FaultyPlanner.hpp

Go to the documentation of this file.

// Copyright 2026 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 

 
#ifndef EASYNAV_PLANNER__FAULT_INJECTION__FAULTYPLANNER_HPP_
#define EASYNAV_PLANNER__FAULT_INJECTION__FAULTYPLANNER_HPP_
 
#include <string>
 
#include "nav_msgs/msg/path.hpp"
 
#include "easynav_core/PlannerMethodBase.hpp"
 
namespace easynav
{

class FaultyPlanner : public PlannerMethodBase
{
public:
  void on_initialize() override;

  void update(NavState & nav_state) override;
 
private:
  nav_msgs::msg::Path plan(const NavState & nav_state) const;
 
  std::string fault_ {"none"};
  int fault_after_ {0};
  double hang_time_ {1.0};
 
  int updates_ {0};
  nav_msgs::msg::Path path_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_PLANNER__FAULT_INJECTION__FAULTYPLANNER_HPP_